Almost but not quite. I'm assuming the last part of your YYYY/MM/YYYY-MM-DD is a folder name, not a filename (as I assume you take more than one photo a day :). If so, Lightroom's Import feature will get you most of the way there but not completely.

To import those photos to Lightroom without moving or renaming them:

1. Start in Lightroom's Library module.
2. Click Import... (bottom left)
3. On the left-hand side of the Import dialog, choose the folder containing your date-based folder structure. At the top, choose Add (rather than Copy or Move). Click Import.

To ensure future photos are imported into the same folder structure (when you copy them from a camera or memory card):

1. Again start in the Import dialog.
2. Choose the appropriate camera or memory card in the Source panel (on the left).
3. Ensure Copy is selected at the top (instead of Add).
4. In the right panel, scroll down to Destination. Choose the same root folder you added in the previous section. Next to Organize, choose By date.
5. Here's where Lightroom doesn't quite match your requirements: next to Date Format, choose either the YYYY/MM/DD format or YYYY/YYYY-MM/YYYY-MM-DD. My recommendation is the former: you can easily rename the folder after import and at least it'll start in the right place.

Hope that helps.